Noetic port of ```robotnik_base_hw_lib```?

[Mechazo11]

Hello @RomanRobotnik,

We have two RBKAIROS units in the iCORE Lab at Louisiana State University. We are working on a large scale project and need to bring all systems (summit_xl, 3d reconstruction, etc) components into ROS Noetic.

We have gotten quite far but have recently faced an issue compiling the robotnik_base_hw package. It appears to have a dependency on the robotnik_base_hw_lib that had an update last year but was still meant for Melodic.

Is there a Noetic version of this .deb file? If not, what may be the general procedure to fix the dependency issues and convert it back to a .deb suitable for ROS Noetic?

Thank you for your time.

With best regards,
@Mechazo11

[RomanRobotnik]

Hi @Mechazo11,

Sure, my colleague @robert-ros will provide everything you need.

Best regards,

Román

[Mechazo11]

@RomanRobotnik thank you very much for connecting me with @robert-ros

Hi @robert-ros if you would kindly share the .deb file for robotnik_base_hw_lib I can go ahead and test it with the noetic port we are working on in our lab.

With best,
@Mechazo11

[jamendezib]

Hi @Mechazo11

I have uploaded our latest .deb file to the lib folder in this branch: https://github.com/RobotnikAutomation/robotnik_base_hw/tree/fix/noetic_lib

[Mechazo11]

@jamendezib thank you very much. I will test it right away and report back if the issue gets resolved.

[Mechazo11]

@jamendezib
Where can I find the ros-noetic-robotnik-msgs package?

[jamendezib]

@Mechazo11 I have updated the branch with robotnik_msgs deb

[Mechazo11]

@jamendezib thank you very much, I shall let you know if the issue gets resolved

[Mechazo11]

Hi @jamendezib and @RomanRobotnik, robotnik_base_hw with the two .deb files provided for noetic, now builds successfully.

I will report back if any further issues arises for the robotnik_base_hw package in Noetic. Thank you very much for promptly helping us resolve this issue.

[Mechazo11]

Hi @robert-ros,

Thank you very much for helping me with the build problem back in May. Presently I can build the entire catkin_ws in after carefully updating a number of packages to their Noetic version. But when trying to launch the various subsystems using ./bringup.sh or roslaunch robot_bringup robot_complete.launch I am seeing this fatal run time error.

[ERROR] [1723151172.526408854]: RobotnikBaseHW::Constructor: Error while reading joint_inputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (2), but I have read 0.
[ERROR] [1723151172.526848132]: RobotnikBaseHW::Constructor: Error while reading joint_outputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (2), but I have read 0.
[ERROR] [1723151172.527284330]: RobotnikBaseHW::Constructor: Error while reading joint_analog_inputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (2), but I have read 0.
[ INFO] [1723151172.528547095]: RobotnikBaseHW::readParam: No multiple PID's params read!
[ WARN] [1723151172.537576167]: RobotnikBaseHW::Constructor: the param motors_encoder is DEPRECATED, please use directly the param joint_encoder_resolution.
[ WARN] [1723151172.537880063]: RobotnikBaseHW::Constructor: the param motors_encoder_factor is DEPRECATED, please use directly the param joint_encoder_resolution.

I have isolated the problem the point where robot_complete.launch attempts to launch nodes from robotnik_hw_base pkg using the following

<!-- start robotnik_base_hw node -->
    <include file="$(find robot_bringup)/launch/bringup/robotnik_base_hw.launch">
      <arg name="prefix" value="$(arg prefix)"/>
      <arg name="battery_voltage_offset" value="$(arg battery_voltage_offset)"/>
    </include>

Can you help me in solving this problem?
Best regards,
@Mechazo11

[Mechazo11]

Hello,
To investigate further what the above error is I tried to launch robotnik_hw_base by itself. Shown below is the console output

robot@SXLSK-210223AB:~$ roslaunch robot_bringup robotnik_base_hw.launch 
... logging to /home/robot/.ros/log/ca92a650-5a7e-11ef-8d5c-93bd4df24cd5/roslaunch-SXLSK-210223AB-5962.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://SXLSK-210223AB:43533/

SUMMARY
========

PARAMETERS
 * /generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /generic_hw_control_loop/loop_hz: 300
 * /hardware_interface/joints: ['robot_front_rig...
 * /joint_limits/robot_back_left_wheel_joint/has_acceleration_limits: False
 * /joint_limits/robot_back_left_wheel_joint/has_effort_limits: False
 * /joint_limits/robot_back_left_wheel_joint/has_jerk_limits: False
 * /joint_limits/robot_back_left_wheel_joint/has_position_limits: False
 * /joint_limits/robot_back_left_wheel_joint/has_velocity_limits: True
 * /joint_limits/robot_back_left_wheel_joint/max_acceleration: 27.27
 * /joint_limits/robot_back_left_wheel_joint/max_velocity: 27.27
 * /joint_limits/robot_back_right_wheel_joint/has_acceleration_limits: False
 * /joint_limits/robot_back_right_wheel_joint/has_effort_limits: False
 * /joint_limits/robot_back_right_wheel_joint/has_jerk_limits: False
 * /joint_limits/robot_back_right_wheel_joint/has_position_limits: False
 * /joint_limits/robot_back_right_wheel_joint/has_velocity_limits: True
 * /joint_limits/robot_back_right_wheel_joint/max_acceleration: 27.27
 * /joint_limits/robot_back_right_wheel_joint/max_velocity: 27.27
 * /joint_limits/robot_front_left_wheel_joint/has_acceleration_limits: False
 * /joint_limits/robot_front_left_wheel_joint/has_effort_limits: False
 * /joint_limits/robot_front_left_wheel_joint/has_jerk_limits: False
 * /joint_limits/robot_front_left_wheel_joint/has_position_limits: False
 * /joint_limits/robot_front_left_wheel_joint/has_velocity_limits: True
 * /joint_limits/robot_front_left_wheel_joint/max_acceleration: 27.27
 * /joint_limits/robot_front_left_wheel_joint/max_velocity: 27.27
 * /joint_limits/robot_front_right_wheel_joint/has_acceleration_limits: False
 * /joint_limits/robot_front_right_wheel_joint/has_effort_limits: False
 * /joint_limits/robot_front_right_wheel_joint/has_jerk_limits: False
 * /joint_limits/robot_front_right_wheel_joint/has_position_limits: False
 * /joint_limits/robot_front_right_wheel_joint/has_velocity_limits: True
 * /joint_limits/robot_front_right_wheel_joint/max_acceleration: 27.27
 * /joint_limits/robot_front_right_wheel_joint/max_velocity: 27.27
 * /robotnik_base_hw/auto_restart: True
 * /robotnik_base_hw/calculate_vel_using_pose: True
 * /robotnik_base_hw/gearbox_ratio: 9.56
 * /robotnik_base_hw/joint_can_id: [1, 2, 3, 4]
 * /robotnik_base_hw/joint_home_offset: [0, 0, 0, 0]
 * /robotnik_base_hw/joint_name: ['robot_front_lef...
 * /robotnik_base_hw/joint_spin: [1, 1, -1, -1]
 * /robotnik_base_hw/joint_type: ['vel', 'vel', 'v...
 * /robotnik_base_hw/k_analog_inputs_multipliers: [16.61, -12.5, 1....
 * /robotnik_base_hw/k_battery_voltage_offset: 0.0
 * /robotnik_base_hw/motors_encoder: True
 * /robotnik_base_hw/motors_encoder_factor: 4000
 * /robotnik_base_hw/port: /dev/pcan_base
 * /robotnik_base_hw/recovery_period: 30
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    robotnik_base_hw (robotnik_base_hw/robotnik_base_hw_node)

auto-starting new master
process[master]: started with pid [5970]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ca92a650-5a7e-11ef-8d5c-93bd4df24cd5
process[rosout-1]: started with pid [5980]
started core service [/rosout]
process[robotnik_base_hw-2]: started with pid [5987]
[ INFO] [1723668609.115183887]: RobotnikBaseHW::Constructor: Port: /dev/pcan_base
[ERROR] [1723668609.120209900]: RobotnikBaseHW::Constructor: Error while reading joint_inputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (4), but I have read 0.
[ERROR] [1723668609.120503262]: RobotnikBaseHW::Constructor: Error while reading joint_outputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (4), but I have read 0.
[ERROR] [1723668609.120786201]: RobotnikBaseHW::Constructor: Error while reading joint_analog_inputs_per_driver parameter. I expect to read one value (for legacy behaviour) or as much as joints are there (4), but I have read 0.
[ INFO] [1723668609.122092292]: RobotnikBaseHW::readParam: No multiple PID's params read!
[ WARN] [1723668609.128970542]: RobotnikBaseHW::Constructor: the param motors_encoder is DEPRECATED, please use directly the param joint_encoder_resolution.
[ WARN] [1723668609.129200687]: RobotnikBaseHW::Constructor: the param motors_encoder_factor is DEPRECATED, please use directly the param joint_encoder_resolution.
[ INFO] [1723668609.135047263]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[ INFO] [1723668609.237096779]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[ INFO] [1723668609.340000455]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[ INFO] [1723668609.442850362]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[ INFO] [1723668609.545602606]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[ INFO] [1723668609.648319958]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
^C[robotnik_base_hw-2] killing on exit
[ INFO] [1723668609.706190626]: RobotnikBaseHW::loadURDF: Waiting for model URDF on the ROS param server at location: /robot_description
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I have traced the origin of the error from the binary files of robotnik_hardware_base_lib. Can you help with this error?

With best regards,
@Mechazo11